Connect GDB server to already running ARM micro program on-the-fly

[hub.martin]

When I was using Rowley CrossStudio, there was "Attach" button which connected debugger to already running program on the micro. Of course I know that Debug info in the project and binary on micro has to be in the sync.

Now I use Eclipse, GCC and St-link GDB server (but question apply to other GDB servers like CoIDE GDB and OpenOCD).
Is there same/similar functionality of attaching GDB/Debugger to already running code on micro with these tools? If I knew the exact term of this I would google it.

Thanks